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<div class="title">OrientationEstimator.cpp</div>  </div>
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<a href="../../d8/d63/_orientation_estimator_8cpp.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;</div><div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="../../dd/df4/_orientation_estimator_8h.html">Controllers/OrientationEstimator.h</a>&quot;</span></div><div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;</div><div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> T&gt;</div><div class="line"><a name="l00016"></a><span class="lineno"><a class="line" href="../../d3/dab/class_cheater_orientation_estimator.html#a78763a20b9e4eb7bb4fa197dc2b1fb1a">   16</a></span>&#160;<span class="keywordtype">void</span> <a class="code" href="../../d3/dab/class_cheater_orientation_estimator.html#a78763a20b9e4eb7bb4fa197dc2b1fb1a">CheaterOrientationEstimator&lt;T&gt;::run</a>() {</div><div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;  this-&gt;_stateEstimatorData.result-&gt;orientation =</div><div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;      this-&gt;_stateEstimatorData.cheaterState-&gt;orientation.template cast&lt;T&gt;();</div><div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;  this-&gt;_stateEstimatorData.result-&gt;rBody = <a class="code" href="../../da/d9b/namespaceori.html#af88fa91d686c646d41f9b747a6bc90f0">ori::quaternionToRotationMatrix</a>(</div><div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;      this-&gt;_stateEstimatorData.result-&gt;orientation);</div><div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;  this-&gt;_stateEstimatorData.result-&gt;omegaBody =</div><div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;      this-&gt;_stateEstimatorData.cheaterState-&gt;omegaBody.template cast&lt;T&gt;();</div><div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;  this-&gt;_stateEstimatorData.result-&gt;omegaWorld =</div><div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;      this-&gt;_stateEstimatorData.result-&gt;rBody.transpose() *</div><div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;      this-&gt;_stateEstimatorData.result-&gt;omegaBody;</div><div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;  this-&gt;_stateEstimatorData.result-&gt;rpy =</div><div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;      <a class="code" href="../../da/d9b/namespaceori.html#add76bed815809cbebd38a8596b0f6224">ori::quatToRPY</a>(this-&gt;_stateEstimatorData.result-&gt;orientation);</div><div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;  this-&gt;_stateEstimatorData.result-&gt;aBody =</div><div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;      this-&gt;_stateEstimatorData.cheaterState-&gt;acceleration.template cast&lt;T&gt;();</div><div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;  this-&gt;_stateEstimatorData.result-&gt;aWorld =</div><div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;      this-&gt;_stateEstimatorData.result-&gt;rBody.transpose() *</div><div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;      this-&gt;_stateEstimatorData.result-&gt;aBody;</div><div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;}</div><div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;</div><div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> T&gt;</div><div class="line"><a name="l00036"></a><span class="lineno"><a class="line" href="../../d3/dac/class_vector_nav_orientation_estimator.html#a5691f18958567f67083835aea85addeb">   36</a></span>&#160;<span class="keywordtype">void</span> <a class="code" href="../../d3/dac/class_vector_nav_orientation_estimator.html#a5691f18958567f67083835aea85addeb">VectorNavOrientationEstimator&lt;T&gt;::run</a>() {</div><div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;  this-&gt;_stateEstimatorData.result-&gt;orientation[0] =</div><div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;      this-&gt;_stateEstimatorData.vectorNavData-&gt;quat[3];</div><div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;  this-&gt;_stateEstimatorData.result-&gt;orientation[1] =</div><div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;      this-&gt;_stateEstimatorData.vectorNavData-&gt;quat[0];</div><div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;  this-&gt;_stateEstimatorData.result-&gt;orientation[2] =</div><div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;      this-&gt;_stateEstimatorData.vectorNavData-&gt;quat[1];</div><div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;  this-&gt;_stateEstimatorData.result-&gt;orientation[3] =</div><div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;      this-&gt;_stateEstimatorData.vectorNavData-&gt;quat[2];</div><div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;  this-&gt;_stateEstimatorData.result-&gt;rBody = <a class="code" href="../../da/d9b/namespaceori.html#af88fa91d686c646d41f9b747a6bc90f0">ori::quaternionToRotationMatrix</a>(</div><div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;      this-&gt;_stateEstimatorData.result-&gt;orientation);</div><div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;  this-&gt;_stateEstimatorData.result-&gt;omegaBody =</div><div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;      this-&gt;_stateEstimatorData.vectorNavData-&gt;gyro.template cast&lt;T&gt;();</div><div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;  this-&gt;_stateEstimatorData.result-&gt;omegaWorld =</div><div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;      this-&gt;_stateEstimatorData.result-&gt;rBody.transpose() *</div><div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;      this-&gt;_stateEstimatorData.result-&gt;omegaBody;</div><div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;  this-&gt;_stateEstimatorData.result-&gt;rpy =</div><div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;      <a class="code" href="../../da/d9b/namespaceori.html#add76bed815809cbebd38a8596b0f6224">ori::quatToRPY</a>(this-&gt;_stateEstimatorData.result-&gt;orientation);</div><div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;  this-&gt;_stateEstimatorData.result-&gt;aBody =</div><div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;      this-&gt;_stateEstimatorData.vectorNavData-&gt;accelerometer.template cast&lt;T&gt;();</div><div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;  this-&gt;_stateEstimatorData.result-&gt;aWorld =</div><div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;      this-&gt;_stateEstimatorData.result-&gt;rBody.transpose() *</div><div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;      this-&gt;_stateEstimatorData.result-&gt;aBody;</div><div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;}</div><div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;</div><div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;</div><div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;<span class="keyword">template</span> <span class="keyword">class </span><a class="code" href="../../d3/dab/class_cheater_orientation_estimator.html">CheaterOrientationEstimator&lt;float&gt;</a>;</div><div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;<span class="keyword">template</span> <span class="keyword">class </span><a class="code" href="../../d3/dab/class_cheater_orientation_estimator.html">CheaterOrientationEstimator&lt;double&gt;</a>;</div><div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;</div><div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;<span class="keyword">template</span> <span class="keyword">class </span><a class="code" href="../../d3/dac/class_vector_nav_orientation_estimator.html">VectorNavOrientationEstimator&lt;float&gt;</a>;</div><div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;<span class="keyword">template</span> <span class="keyword">class </span><a class="code" href="../../d3/dac/class_vector_nav_orientation_estimator.html">VectorNavOrientationEstimator&lt;double&gt;</a>;</div><div class="ttc" id="class_cheater_orientation_estimator_html"><div class="ttname"><a href="../../d3/dab/class_cheater_orientation_estimator.html">CheaterOrientationEstimator</a></div><div class="ttdef"><b>Definition:</b> <a href="../../dd/df4/_orientation_estimator_8h_source.html#l00018">OrientationEstimator.h:18</a></div></div>
<div class="ttc" id="namespaceori_html_add76bed815809cbebd38a8596b0f6224"><div class="ttname"><a href="../../da/d9b/namespaceori.html#add76bed815809cbebd38a8596b0f6224">ori::quatToRPY</a></div><div class="ttdeci">Vec3&lt; typename T::Scalar &gt; quatToRPY(const Eigen::MatrixBase&lt; T &gt; &amp;q)</div><div class="ttdef"><b>Definition:</b> <a href="../../d4/dfb/orientation__tools_8h_source.html#l00185">orientation_tools.h:185</a></div></div>
<div class="ttc" id="class_cheater_orientation_estimator_html_a78763a20b9e4eb7bb4fa197dc2b1fb1a"><div class="ttname"><a href="../../d3/dab/class_cheater_orientation_estimator.html#a78763a20b9e4eb7bb4fa197dc2b1fb1a">CheaterOrientationEstimator::run</a></div><div class="ttdeci">virtual void run()</div><div class="ttdef"><b>Definition:</b> <a href="../../d8/d63/_orientation_estimator_8cpp_source.html#l00016">OrientationEstimator.cpp:16</a></div></div>
<div class="ttc" id="class_vector_nav_orientation_estimator_html"><div class="ttname"><a href="../../d3/dac/class_vector_nav_orientation_estimator.html">VectorNavOrientationEstimator</a></div><div class="ttdef"><b>Definition:</b> <a href="../../dd/df4/_orientation_estimator_8h_source.html#l00025">OrientationEstimator.h:25</a></div></div>
<div class="ttc" id="class_vector_nav_orientation_estimator_html_a5691f18958567f67083835aea85addeb"><div class="ttname"><a href="../../d3/dac/class_vector_nav_orientation_estimator.html#a5691f18958567f67083835aea85addeb">VectorNavOrientationEstimator::run</a></div><div class="ttdeci">virtual void run()</div><div class="ttdef"><b>Definition:</b> <a href="../../d8/d63/_orientation_estimator_8cpp_source.html#l00036">OrientationEstimator.cpp:36</a></div></div>
<div class="ttc" id="namespaceori_html_af88fa91d686c646d41f9b747a6bc90f0"><div class="ttname"><a href="../../da/d9b/namespaceori.html#af88fa91d686c646d41f9b747a6bc90f0">ori::quaternionToRotationMatrix</a></div><div class="ttdeci">Mat3&lt; typename T::Scalar &gt; quaternionToRotationMatrix(const Eigen::MatrixBase&lt; T &gt; &amp;q)</div><div class="ttdef"><b>Definition:</b> <a href="../../d4/dfb/orientation__tools_8h_source.html#l00160">orientation_tools.h:160</a></div></div>
<div class="ttc" id="_orientation_estimator_8h_html"><div class="ttname"><a href="../../dd/df4/_orientation_estimator_8h.html">OrientationEstimator.h</a></div><div class="ttdoc">All Orientation Estimation Algorithms. </div></div>
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